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      <td class="subheader-left"><a href="matlab:open PoseGraph">View code for PoseGraph</a></td>
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<h1>PoseGraph</h1><p><span class="helptopic">Pose graph</span></p><hr>
<a name="PoseGraph"><h1>PoseGraph.PoseGraph</h1></a>
<p><span class="helptopic">the file data</span></p><p>
we assume g2o format

</p>
<pre style="width: 90%%;" class="examples">
VERTEX*&nbsp;vertex_id&nbsp;X&nbsp;Y&nbsp;THETA
EDGE*&nbsp;startvertex_id&nbsp;endvertex_id&nbsp;X&nbsp;Y&nbsp;THETA&nbsp;IXX&nbsp;IXY&nbsp;IYY&nbsp;IXT&nbsp;IYT&nbsp;ITT
</pre>
<p>
vertex numbers start at 0

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<hr>
<a name="linear_factors"><h1>PoseGraph.linear_factors</h1></a>
<p><span class="helptopic">the ids of the vertices connected by the kth edge</span></p><p>
id_i=eids(1,k);
id_j=eids(2,k);

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<p>
extract the poses of the vertices and the mean of the edge

</p>
<pre style="width: 90%%;" class="examples">
v_i=vmeans(:,id_i);
v_j=vmeans(:,id_j);
z_ij=emeans(:,k);
</pre>
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